K-turn method, system, device, medium, and program product for work equipment

Abstract

This disclosure provides a method, system, device, medium, and program product for K-shaped turning of a work equipment. The turning path is composed of a first arc, a straight segment, and a second arc connected end to end. The method includes: determining a first reference line containing the first center of the first arc and the second center of the second arc based on the current work line, the target work line, a preset minimum safety distance, and the minimum turning radius of the work equipment; determining the first center and the second center based on the first reference line, the current work line, the target work line, and the minimum turning radius; determining the tangent points of the first arc with the current work line and the guide line, respectively, and the tangent points of the second arc with the guide line and the target work line, respectively, based on the first center and the second center, using the minimum turning radius as the arc radius; generating the turning path based on the tangent points, the first center, and the second center. This disclosure simultaneously satisfies the constraints of the minimum turning radius and the safety obstacle avoidance of the land boundary, ensuring that the turning path is within a safe range.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a method, system, device, medium, and program product for K-shaped turning of a work equipment. Background Technology

[0002] Existing operating equipment has several shortcomings when dealing with turning problems within closed plots, particularly when handling turning at the edge of farmland. These shortcomings mainly lie in the integration and adaptability of geometric constraints. Some equipment is not only inefficient and computationally burdensome, but also struggles to guarantee robustness and stability of results under complex boundary conditions. Others fail to provide a valid path or exceed the operating area once the plot boundary shrinks inward or the turning space changes, making them unsuitable for plots with varying amplitudes. Still others require extensive iterative calculations, resulting in poor real-time performance and difficulty in meeting the real-time path updates required by agricultural machinery during rapid operations. Furthermore, they cannot guarantee convergence to a feasible solution that satisfies both the minimum radius r and the plot boundary B (e.g., farmland boundary) in all situations. Summary of the Invention

[0003] The technical problem to be solved by this disclosure is to address the aforementioned deficiencies in the prior art, and to provide a method, system, device, medium, and program product for K-shaped turning of a work equipment.

[0004] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0005] This disclosure provides a K-shaped turning method for a work equipment. The turning path of the K-shaped turn is a composite path composed of a first circular arc, a straight line segment, and a second circular arc connected end to end in sequence. The K-shaped turning method includes:

[0006] Based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment, determine the first reference line where the first center of the first arc and the second center of the second arc are located;

[0007] Based on the first reference line, the current work line, the target work line, and the minimum turning radius, determine the first circle center and the second circle center;

[0008] Based on the first center and the second center, and using the minimum turning radius as the arc radius, determine the tangent points of the first arc with the current work row and the guide line, respectively, and determine the tangent points of the second arc with the guide line and the target work row, respectively; wherein, the guide line is a straight line segment with the end point of the current work row and the start point of the target work row as its endpoints;

[0009] The turning path is generated based on the tangent point, the first center, and the second center.

[0010] Optionally, determining the first reference line containing the first center of the first arc and the second center of the second arc based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment includes:

[0011] The guide line is determined; wherein the distance between each point on the guide line and the boundary of the land parcel is greater than or equal to the minimum safe distance.

[0012] The guide line is pushed into the plot along the direction of action to obtain the first reference line, and the distance between the guide line and the first reference line is the minimum turning radius.

[0013] Optionally, the step of pushing the guide line into the interior of the plot along the direction of action to obtain the first reference line includes:

[0014] Calculate the translation vector required for the shift to ensure that the outer edge of the arc in the turning path maintains the minimum safe distance from the boundary of the land parcel;

[0015] The guide line is pushed into the plot along the direction of action according to the translation vector to obtain the first reference line, so that the distance between the guide line and the first reference line is the minimum turning radius.

[0016] Optionally, determining the first center and the second center based on the first reference line, the current work line, the target work line, and the minimum turning radius includes:

[0017] Based on the current work line, the target work line, and the minimum turning radius, a second reference line and a third reference line are determined; wherein, the second reference line is parallel to the current work line, the third reference line is parallel to the target work line, both the second reference line and the third reference line are located between the current work line and the target work line, and the distance between the second reference line and the current work line and the distance between the third reference line and the target work line are both the minimum turning radius;

[0018] The first center and the second center are determined based on the first reference line, the second reference line, and the third reference line.

[0019] Optionally, determining the first center and the second center based on the first reference line, the second reference line, and the third reference line includes:

[0020] The intersection of the first reference line and the second reference line is determined as the center of the first circle, and the intersection of the first reference line and the third reference line is determined as the center of the second circle.

[0021] Optionally, generating the turning path based on the tangent point, the first circle center, and the second circle center includes:

[0022] Based on the tangent point, the first circle center, and the second circle center, the first arc and the second arc are sampled according to the preset arc sampling step size to obtain the first arc sampling point set and the second arc sampling point set;

[0023] Based on the tangent point, the line segment is sampled according to the preset line sampling step size to obtain a line point set;

[0024] The turning path is obtained by sequentially splicing together the first set of circular arc sampling points, the set of straight line points, and the second set of circular arc sampling points.

[0025] This disclosure also provides a K-shaped turning system for a work equipment, wherein the turning path of the K-shaped turn is a composite path composed of a first circular arc, a straight line segment, and a second circular arc connected end to end in sequence, and the K-shaped turning system includes:

[0026] The first reference line determination module is used to determine the first reference line containing the first center of the first arc and the second center of the second arc based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment.

[0027] The center determination module is used to determine the first center and the second center based on the first reference line, the current work row, the target work row, and the minimum turning radius;

[0028] The geometric calculation module is used to determine the tangent points of the first arc with the current work row and the guide line, respectively, based on the first center and the second center, and with the minimum turning radius as the arc radius; and to determine the tangent points of the second arc with the guide line and the target work row, respectively; wherein the guide line is a straight line segment with the end point of the current work row and the start point of the target work row as its endpoints;

[0029] A turning path generation module is used to generate the turning path based on the tangent point, the first circle center, and the second circle center.

[0030] Optionally, the first reference line determination module is further configured to determine the guide line; wherein the distance between each point on the guide line and the boundary of the land parcel is greater than or equal to the minimum safe distance;

[0031] The first reference line determination module is further configured to push the guide line into the plot along the direction of action to obtain the first reference line, and the distance between the guide line and the first reference line is the minimum turning radius.

[0032] Optionally, the first reference line determination module is further configured to calculate the translation vector required for the shift, so as to ensure that the outer edge of the arc in the turning path maintains the minimum safe distance from the boundary of the land parcel;

[0033] The first reference line determination module is further configured to push the guide line into the plot along the direction of action according to the translation vector to obtain the first reference line, so that the distance between the guide line and the first reference line is the minimum turning radius.

[0034] Optionally, the center determination module is further configured to determine a second reference line and a third reference line based on the current work line, the target work line, and the minimum turning radius; wherein the second reference line is parallel to the current work line, the third reference line is parallel to the target work line, both the second reference line and the third reference line are located between the current work line and the target work line, and the distance between the second reference line and the current work line and the distance between the third reference line and the target work line are both the minimum turning radius;

[0035] The center determination module is further configured to determine the first center and the second center based on the first reference line, the second reference line, and the third reference line.

[0036] Optionally, the center determination module is further configured to determine the intersection of the first reference line and the second reference line as the first center, and the intersection of the first reference line and the third reference line as the second center.

[0037] Optionally, the turning path generation module is further configured to sample the first arc and the second arc respectively based on the tangent point, the first circle center and the second circle center, according to a preset arc sampling step size, to obtain a first arc sampling point set and a second arc sampling point set;

[0038] The turning path generation module is also used to sample the straight line segment based on the tangent point and according to a preset straight line sampling step size to obtain a set of straight line points;

[0039] The turning path generation module is also used to sequentially splice the first arc sampling point set, the straight line point set, and the second arc sampling point set to obtain the turning path.

[0040] This disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and for running on the processor, wherein the processor executes the computer program to implement the aforementioned K-shaped turning method of the working device.

[0041] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aforementioned K-shaped turning method for the working equipment.

[0042] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned K-shaped turning method for the working equipment.

[0043] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

[0044] The positive advancements of this disclosure are as follows: By employing a closed-loop geometric solution and a dynamic reference line translation mechanism, it achieves K-shaped turning path planning for the first arc-straight line segment-second arc, resolving the difficulty for operating equipment to simultaneously meet the two hard constraints of minimum turning radius and safe obstacle avoidance at the plot boundary when turning within a closed plot. Specifically addressing the risk of agricultural operating equipment (machinery) going out of bounds or damaging seedlings during field turns, it achieves embedded processing of safety boundary constraints, completely avoiding the complexity and uncertainty of secondary collision detection and iterative correction after path planning in traditional methods. It ensures that the entire generated turning path strictly lies within the safe range of the plot's operating area, significantly improving the safety of turning operations and the robustness of the path. Furthermore, it uses a closed-loop algebraic geometry method to directly solve for the coordinates of the center and tangent point (i.e., connection point), eliminating the need for computationally intensive numerical optimization or iterative methods. The process significantly accelerates the response speed and computational efficiency of path planning, meeting the real-time path update requirements of automatic navigation systems. The structure of the turning path and the connection point determination method based on tangent points ensure the continuity of position and tangent direction at all junctions with the work row and straight segments, guaranteeing the kinematic feasibility and control smoothness of the turning process and reducing the impact on the actuators. The first reference line is dynamically calculated and translated based on the geometric information of the plot boundary, enabling the planned turning path to flexibly adapt to irregular plots and plots with varying widths, overcoming the application limitations of turning schemes based on fixed geometric models. Since the turning path always closely follows the safety boundary, the space required for turning is minimized while ensuring safety, effectively shortening the non-productive idle travel of the working equipment and improving the spatial efficiency and time utilization of plot operations. Attached Figure Description

[0045] Figure 1 A flowchart of a K-shaped turning method for a working device provided in Embodiment 1 of this disclosure;

[0046] Figure 2 This is an example of a K-shaped turning path for a K-shaped turning method for a working device provided in Embodiment 1 of this disclosure;

[0047] Figure 3 A flowchart illustrating a specific implementation of step S11 of a K-shaped turning method for a work equipment provided in Embodiment 1 of this disclosure;

[0048] Figure 4 A flowchart illustrating a specific implementation of step S112 of a K-shaped turning method for a work equipment provided in Embodiment 1 of this disclosure;

[0049] Figure 5 A flowchart illustrating a specific implementation of step S12 of a K-shaped turning method for a work equipment provided in Embodiment 1 of this disclosure;

[0050] Figure 6 A flowchart illustrating a specific implementation of step S14 of a K-shaped turning method for a work equipment provided in Embodiment 1 of this disclosure;

[0051] Figure 7 This is a schematic diagram of a K-shaped turning system for a work equipment provided in Embodiment 2 of this disclosure;

[0052] Figure 8 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of this disclosure. Detailed Implementation

[0053] The present disclosure is further illustrated below by way of embodiments, but the present disclosure is not limited to the scope of the embodiments described herein.

[0054] The prefixes such as "first" and "second" used in this disclosure are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this disclosure does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not be construed as an unnecessary limitation. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0055] Example 1

[0056] Figure 1 A flowchart illustrating a K-shaped turning method for a work device, provided as an exemplary embodiment of this disclosure, shows that the turning path of the K-shaped turn is a composite path composed of a first arc, a straight line segment, and a second arc connected end to end in sequence. The K-shaped turning method includes:

[0057] S11. Based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment, determine the first reference line where the first center of the first arc and the second center of the second arc are located.

[0058] The equipment used for the operation can be agricultural machinery, and the land plot can be farmland.

[0059] The goal of the K-shaped turning method for the work equipment in this embodiment is to generate a line connecting the current work row (L). C Endpoint and target operation lines (L) G The starting point is the Arc-Line-Arc (ALA) type turning trajectory Path(t), which must simultaneously satisfy the following key engineering constraints:

[0060] (1) Core constraints:

[0061] Curvature constraint (kinematic feasibility): The curvature k(t) at any point on the trajectory must be constrained by the minimum turning radius r of the working equipment to ensure that the working equipment can move.

[0062] Boundary constraint k(t)≤1 / r (safety and obstacle avoidance): The entire turning trajectory Path(t) must be strictly located within the safe zone inside the plot boundary B. This is the core challenge of a K-shaped turn, requiring the turning path to maintain a minimum safe distance ϵ from the plot edge to avoid driving out of the work area and causing damage such as crushing seedlings.

[0063] (2) Core objective:

[0064] Path smoothness: The path must be parallel to L. C and L G Implement C at the connection point 1 Continuity (continuous position and tangential direction) ensures a smooth turning process.

[0065] Space efficiency: Minimize site occupancy and non-productive time while satisfying all geometric and kinematic constraints.

[0066] The shortcomings of existing ground turning systems mainly lie in the integration and adaptability of the following geometric constraints, specifically:

[0067] (1) Turning paths use purely analytical geometric curves (such as Dubins / Reeds-Shepp curves). The core objective of this type of algorithm is to find the shortest path. Its analytical form makes it difficult to directly integrate complex farmland and other plot boundaries (polygons B) as hard geometric constraints. Therefore, the planned path often needs to undergo secondary collision detection and rely on numerical methods or path scaling for correction. This secondary correction method is not only inefficient and computationally burdensome, but also difficult to guarantee the robustness and stability of the results under complex boundary conditions.

[0068] (2) Fixed radius circular arc turns: Traditional circular arc turns or simple S-shaped turns have fixed path shapes and turning depths in advance, lacking adaptability to environmental changes. Once the width of the field or the turning space changes (for example, the farmland boundary shrinks inward), the path calculated by this type of fixed model will fail or exceed the working area. This makes them unsuitable for variable-amplitude plots commonly found in actual farmland and other plot environments.

[0069] (3) Numerical optimization methods (Minimum Time / Energy): Some high-precision solutions rely on numerical optimization techniques to find the optimal path. Although the planning results are theoretically accurate, these methods are highly dependent on initial guesses and require a large number of iterative calculations. This results in poor real-time performance, making it difficult to meet the needs of agricultural machinery for real-time path updates during rapid operations, and it cannot guarantee convergence to a feasible solution that satisfies both the minimum radius r and the boundary B constraints in all cases.

[0070] To address the aforementioned shortcomings, the K-shaped turning method in this embodiment employs an ALA structure based on dynamic reference lines, with the first reference line L... ref1 The position is based on the boundary. The geometric information is dynamically calculated, ensuring that the path adaptively adheres to the safety boundary regardless of changes in the ground space, thereby minimizing non-productive distances and maintaining safety; it can also dynamically adjust the first reference line L. ref1 Translation is performed to meet the boundary safety distance, realizing embedded planning with boundary constraints, making the process more direct and the results more reliable; closed geometric solutions are used to directly calculate the first circle center, the second circle center, and the connection point (tangent point) through algebraic geometry methods, which is fast and ensures the efficiency and real-time performance of the planning process.

[0071] Figure 2 This embodiment illustrates an example of generating a K-shaped turning path. First reference line. It is a straight line connecting the first center C1 and the second center C3, and its position must ensure that the entire path is within the safe range of the plot boundary 𝐵. (Guide line) Connect target job line The starting point and current job line The End Guide line The distance from the plot boundary C1 satisfies the minimum safety distance ϵ. The first center C1 and the second center C3 are relative to their respective work lines. or Maintain minimum turning radius The vertical distance. Second reference line. Will Shift to the inside of the turn Distance, i.e. of Offset line, third reference line Will Shift the distance r to the inside of the turn, i.e. The r-offset line. First circle center. Second center These are the first reference line Lref1 and the corresponding reference line ( and The intersection of the two circles. The point of tangency is the center of the first circle. Second center foot of the perpendicular to the line Ensure the path Continuity (position and direction continuity), start / end tangent points ( Determine the arc and the work line and The point of tangency, the point connecting the line segments ( Determine the arc and the straight line segment The starting and ending points.

[0072] In an optional embodiment, refer to Figure 3 Step S11 includes:

[0073] S111. Determine the guide line. The distance between each point on the guide line and the boundary of the land parcel must be greater than or equal to the minimum safe distance.

[0074] S112. The guide line is pushed into the plot along the direction of action to obtain the first reference line. The distance between the guide line and the first reference line is the minimum turning radius.

[0075] Among them, the guide line Connect target job line The starting point and current job line The End Guide line The distance from the boundary of the plot, 𝐵, satisfies the minimum safe distance ϵ.

[0076]

[0077] First Reference Line It is a straight line connecting the first center C1 and the second center C3, and its position must ensure that the entire path is within the safe range of the plot boundary 𝐵.

[0078] Will The first reference line is obtained by pushing it inwards from the plot. , making the first reference line All points on To the first reference line The distance is the minimum turning radius r, to ensure that the turning path (outer edge of the arc) is perpendicular to the boundary. Maintain minimum safe distance This enables the translation of boundary constraints.

[0079] In this embodiment, determining the guide line means determining the end point of the current work line and the starting point of the target work line. It is ensured that the distance between the guide line and the boundary of the plot is greater than or equal to the minimum safe distance ϵ, and the distance between the guide line and the first reference line (centerline) is the minimum turning radius r in order to achieve tangency between the arc and the straight line.

[0080] In an optional embodiment, refer to Figure 4 Step S112, "pushing the guide line inward along the direction of action to obtain the first reference line," includes:

[0081] S1121. Calculate the translation vector required for the push to ensure that the outer edge of the arc in the turning path maintains the minimum safe distance from the boundary of the plot.

[0082] S1122. Based on the translation vector, the guide line is pushed into the interior of the plot along the direction of action to obtain the first reference line, so that the distance between the guide line and the first reference line is the minimum turning radius.

[0083] The calculation ensures that the turning path (outer edge of the arc) is aligned with the boundary. Maintain minimum safe distance Required translation vector This vector will The first reference line is obtained by pushing it inwards from the plot. , making the final first reference line All points on to the border distance satisfy:

[0084]

[0085]

[0086] Here, Trans represents the translation operation.

[0087] In this embodiment, the first reference line is obtained by parallelly pushing the guide line into the plot along the direction of action using the calculated translation vector.

[0088] S12. Based on the first reference line, the current work line, the target work line, and the minimum turning radius, determine the first circle center and the second circle center.

[0089] In an optional embodiment, refer to Figure 5 Step S12 includes:

[0090] S121. Based on the current work line, the target work line, and the minimum turning radius, determine the second reference line and the third reference line. The second reference line is parallel to the current work line, and the third reference line is parallel to the target work line. Both the second and third reference lines are located between the current and target work lines, and the distance between the second and third reference lines and the target work line is equal to the minimum turning radius.

[0091] S122. Based on the first reference line, the second reference line, and the third reference line, determine the first center and the second center of the circle.

[0092] Among them, the first reference line This is a straight line connecting the first center C1 and the second center C3, and its position must ensure that the entire path is within the safe range of the plot boundary. The first center C1 and the second center C3 are related to their respective work lines. or Maintain minimum turning radius The vertical distance.

[0093] Second Reference Line Will Shift to the inside of the turn Distance, i.e. of Offset line, third reference line Will Shift the distance r to the inside of the turn, i.e. The r-offset line.

[0094]

[0095]

[0096] First center Second center The first reference line With the corresponding reference line ( and The intersection of ).

[0097]

[0098]

[0099] In this embodiment, the first center and the second center are determined by constructing a second reference line and a third reference line.

[0100] In an optional embodiment, step S122 includes:

[0101] The intersection of the first reference line and the second reference line is determined as the center of the first circle, and the intersection of the first reference line and the third reference line is determined as the center of the second circle.

[0102] Among them, the first center First reference line With the second reference line The intersection of the two circles, the center of the second circle The first reference line With the third reference line The intersection point.

[0103]

[0104]

[0105] In this embodiment, the two center points are specifically determined by the intersection of the three reference lines, providing a specific implementation method for step S122.

[0106] S13. Based on the first and second circle centers, and using the minimum turning radius as the arc radius, determine the tangent points of the first arc with the current work line and the guide line, respectively, and determine the tangent points of the second arc with the guide line and the target work line, respectively. The guide line is a straight line segment with the end point of the current work line and the start point of the target work line as its endpoints.

[0107] The point of tangency is the center of the first circle. Second center foot of the perpendicular to the line Ensure the path Continuity (position and direction continuity), start / end tangent points ( Determine the arc and the work line and The point of tangency, the point connecting the line segments ( Determine the arc and the straight line segment The starting and ending points.

[0108]

[0109]

[0110]

[0111]

[0112] in, Indicates the first arc. This represents the second arc.

[0113] S14. Generate a turning path based on the tangent point, the first center, and the second center.

[0114] In an optional embodiment, refer to Figure 6 Step S14 includes:

[0115] S141. Based on the tangent point, the first circle center, and the second circle center, the first circle and the second circle are sampled according to the preset arc sampling step size to obtain the first arc sampling point set and the second circle sampling point set.

[0116] S142. Based on the tangent point, the line segment is sampled according to the preset line sampling step size to obtain the line point set.

[0117] S143. The first arc sampling point set, the straight line point set, and the second arc sampling point set are spliced ​​together in sequence to obtain the turning path.

[0118] Among them, the first arc sampling point set is generated. Second circular arc sampling point set :by and With center at and radius at, According to step size The sampling function is ArcPoints, which represents the sampling function for the arc point set.

[0119]

[0120]

[0121] Generate a set of points on a straight line :right Perform linear interpolation sampling, step size LinePoints represents the sampling function for the set of points on a straight line.

[0122]

[0123] Final composite turning path (point set): The three discrete point sets are sequentially concatenated to form the final turning path. .

[0124]

[0125] In this embodiment, the three geometric segments are sampled by discretization to generate a point set for the turning path.

[0126] The K-shaped turning method for agricultural machinery in this embodiment achieves K-shaped turning path planning from a first arc to a straight line segment to a second arc through closed-loop geometric solutions and a dynamic reference line translation mechanism. This solves the problem of agricultural machinery struggling to simultaneously meet the two hard constraints of minimum turning radius and safe obstacle avoidance at the plot boundary when turning within a closed plot. Specifically addressing the risk of agricultural machinery (farm machinery) going out of bounds or damaging seedlings during field turns, it implements embedded processing of safety boundary constraints, completely avoiding the complexity and uncertainty of secondary collision detection and iterative correction after path planning in traditional methods. It ensures that the entire generated turning path strictly remains within the safe range of the plot's operating area, significantly improving the safety of turning operations and the robustness of the path. The method uses closed-loop algebraic geometry to directly solve for the coordinates of the center and tangent points (i.e., connection points), eliminating the need for computationally expensive numerical optimization. The iterative process significantly accelerates the response speed and computational efficiency of path planning, meeting the real-time path update requirements of the automatic navigation system. The structure of the turning path and the connection point determination method based on tangent points ensure the continuity of position and tangent direction at all junctions with the work row and straight segments, guaranteeing the kinematic feasibility and control smoothness of the turning process and reducing the impact on the actuators. The first reference line is dynamically calculated and translated based on the geometric information of the plot boundary, enabling the planned turning path to flexibly adapt to irregular plots and plots with varying widths, overcoming the application limitations of turning schemes based on fixed geometric models. Since the turning path always closely follows the safety boundary, the space required for turning is minimized while ensuring safety, effectively shortening the non-productive idle travel of the working equipment and improving the spatial efficiency and time utilization of plot operations.

[0127] Example 2

[0128] Corresponding to the aforementioned embodiments of the K-shaped turning method for the working equipment, this disclosure also provides embodiments of the K-shaped turning system for the working equipment.

[0129] Figure 7 This is a schematic diagram of a K-shaped turning system for a work equipment provided in an exemplary embodiment of the present disclosure. The turning path of the K-shaped turn is a composite path composed of a first arc, a straight line segment, and a second arc connected end to end in sequence. The K-shaped turning system includes:

[0130] The first reference line determination module 1 is used to determine the first reference line containing the first center of the first arc and the second center of the second arc based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment.

[0131] The center determination module 2 is used to determine the first center and the second center based on the first reference line, the current work line, the target work line, and the minimum turning radius.

[0132] The geometric calculation module 3 is used to determine the tangent points of the first arc with the current work row and the guide line, respectively, based on the first and second circle centers and using the minimum turning radius as the arc radius, and to determine the tangent points of the second arc with the guide line and the target work row, respectively. The guide line is a straight line segment with the end point of the current work row and the start point of the target work row as its endpoints.

[0133] The turning path generation module 4 is used to generate turning paths based on the tangent point, the first circle center, and the second circle center.

[0134] In this embodiment, a K-shaped turning path planning of the first arc-straight line segment-second arc is realized through a closed-loop geometric solution and a dynamic reference line translation mechanism. This solves the problem that it is difficult for operating equipment to simultaneously meet the two hard constraints of minimum turning radius and safe obstacle avoidance at the plot boundary when turning within a closed plot. In particular, it addresses the risk of agricultural operating equipment (agricultural machinery) going out of bounds or damaging seedlings when turning in the field, and achieves embedded processing of safety boundary constraints. This completely avoids the complexity and uncertainty of secondary collision detection and iterative correction after path planning in traditional methods. It ensures that the entire generated turning path is strictly within the safe range of the plot's operating area, significantly improving the safety of turning operations and the robustness of the path. The coordinates of the center and tangent point (i.e., the connection point) are directly solved using a closed-loop algebraic geometry method, without relying on computationally intensive numerical optimization or iterative processes. This significantly accelerates the response speed and computational efficiency of path planning, meeting the real-time path update requirements of automatic navigation systems. The structure of the turning path and the connection point determination method based on tangent points ensure the continuity of position and tangent direction at all junctions with the work row and straight segments, guaranteeing the kinematic feasibility and control smoothness of the turning process and reducing the impact on the actuators. The first reference line is dynamically calculated and translated based on the geometric information of the plot boundary, enabling the planned turning path to flexibly adapt to irregular plots and plots with varying widths, overcoming the application limitations of turning schemes based on fixed geometric models. Because the turning path always closely follows the safety boundary, the space required for turning is minimized while ensuring safety, effectively shortening the non-productive idle travel of the working equipment and improving the spatial efficiency and time utilization of plot operations.

[0135] In an optional embodiment, the first reference line determination module 1 is further configured to determine a guide line. The distance between each point on the guide line and the land parcel boundary is greater than or equal to the minimum safe distance.

[0136] The first reference line determination module 1 is also used to push the guide line into the plot along the direction of action to obtain the first reference line, and the distance between the guide line and the first reference line is the minimum turning radius.

[0137] In an optional embodiment, the first reference line determination module 1 is also used to calculate the translation vector required for the shift to ensure that the outer edge of the arc in the turning path maintains a minimum safe distance from the land parcel boundary.

[0138] The first reference line determination module 1 is also used to push the guide line into the plot along the direction of action according to the translation vector to obtain the first reference line, so that the distance between the guide line and the first reference line is the minimum turning radius.

[0139] In an optional embodiment, the center determination module 2 is further configured to determine a second reference line and a third reference line based on the current work line, the target work line, and the minimum turning radius. The second reference line is parallel to the current work line, and the third reference line is parallel to the target work line. Both the second and third reference lines are located between the current and target work lines, and the distance between the second reference line and the current work line, and the distance between the third reference line and the target work line, are both equal to the minimum turning radius.

[0140] The center determination module 2 is also used to determine the first center and the second center based on the first reference line, the second reference line and the third reference line.

[0141] In an optional embodiment, the center determination module 2 is further configured to determine the intersection of the first reference line and the second reference line as the first center, and the intersection of the first reference line and the third reference line as the second center.

[0142] In an optional embodiment, the turning path generation module 4 is further configured to sample the first arc and the second arc based on the tangent point, the first center of the circle, and the second center of the circle, according to a preset arc sampling step size, to obtain the first arc sampling point set and the second arc sampling point set.

[0143] The turning path generation module 4 is also used to sample line segments based on the tangent point and according to the preset line sampling step size to obtain a set of line points.

[0144] The turning path generation module 4 is also used to sequentially splice the first arc sampling point set, the straight line point set, and the second arc sampling point set to obtain the turning path.

[0145] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs.

[0146] Example 3

[0147] Figure 8 This is a schematic diagram of the structure of an electronic device according to an example embodiment of the present disclosure. The electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor. When the processor executes the computer program, it implements the K-shaped turning method of the working device described in any of the above embodiments. Figure 8 The electronic device 90 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0148] like Figure 8 As shown, the electronic device 90 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including memory 92 and processor 91).

[0149] Bus 93 includes a data bus, an address bus, and a control bus.

[0150] The memory 92 may include volatile memory, such as random access memory (RAM) 921 and / or cache memory 922, and may further include read-only memory (ROM) 923.

[0151] The memory 92 may also include a program tool 925 (or utility) having a set (at least one) program module 924, such program module 924 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0152] The processor 91 executes various functional applications and data processing by running computer programs stored in the memory 92, such as the K-turning method of the working equipment provided in any of the above embodiments.

[0153] Electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboard, pointing device, etc.). This communication can be performed through input / output (I / O) interface 95. Furthermore, electronic device 90 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 96. As shown, network adapter 96 communicates with other modules of electronic device 90 via bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0154] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0155] Example 4

[0156] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the K-shaped turning method of the working equipment provided in any of the above embodiments.

[0157] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0158] Example 5

[0159] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the K-shaped turning method of the working equipment described in any of the above embodiments.

[0160] The program code for executing the computer program product of this disclosure can be written in any combination of one or more programming languages, and the program code can be executed entirely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0161] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A method for K-shaped turning of a work equipment, characterized in that, The K-shaped turn path is a composite path composed of a first circular arc, a straight line segment, and a second circular arc connected end to end in sequence. The K-shaped turn method includes: Based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment, determine the first reference line where the first center of the first arc and the second center of the second arc are located; Based on the first reference line, the current work line, the target work line, and the minimum turning radius, determine the first circle center and the second circle center; Based on the first center and the second center, and using the minimum turning radius as the arc radius, determine the tangent points of the first arc with the current work row and the guide line, respectively, and determine the tangent points of the second arc with the guide line and the target work row, respectively; wherein, the guide line is a straight line segment with the end point of the current work row and the start point of the target work row as its endpoints; The turning path is generated based on the tangent point, the first center, and the second center.

2. The K-shaped turning method for the working equipment as described in claim 1, characterized in that, The step of determining the first reference line containing the first center of the first arc and the second center of the second arc based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment includes: The guide line is determined; wherein the distance between each point on the guide line and the boundary of the land parcel is greater than or equal to the minimum safe distance. The guide line is pushed into the plot along the direction of action to obtain the first reference line, and the distance between the guide line and the first reference line is the minimum turning radius.

3. The K-shaped turning method for the working equipment as described in claim 2, characterized in that, The step of pushing the guide line inward along the direction of action to obtain the first reference line includes: Calculate the translation vector required for the shift to ensure that the outer edge of the arc in the turning path maintains the minimum safe distance from the boundary of the land parcel; The guide line is pushed into the plot along the direction of action according to the translation vector to obtain the first reference line, so that the distance between the guide line and the first reference line is the minimum turning radius.

4. The K-shaped turning method for the working equipment as described in claim 1, characterized in that, Determining the first center and the second center based on the first reference line, the current work line, the target work line, and the minimum turning radius includes: Based on the current work line, the target work line, and the minimum turning radius, a second reference line and a third reference line are determined; wherein, the second reference line is parallel to the current work line, the third reference line is parallel to the target work line, both the second reference line and the third reference line are located between the current work line and the target work line, and the distance between the second reference line and the current work line and the distance between the third reference line and the target work line are both the minimum turning radius; The first center and the second center are determined based on the first reference line, the second reference line, and the third reference line.

5. The K-shaped turning method for the working equipment as described in claim 4, characterized in that, Determining the center of the first circle and the center of the second circle based on the first reference line, the second reference line, and the third reference line includes: The intersection of the first reference line and the second reference line is determined as the center of the first circle, and the intersection of the first reference line and the third reference line is determined as the center of the second circle.

6. The K-shaped turning method for the working equipment as described in claim 1, characterized in that, The process of generating the turning path based on the tangent point, the first circle center, and the second circle center includes: Based on the tangent point, the first circle center, and the second circle center, the first arc and the second arc are sampled according to the preset arc sampling step size to obtain the first arc sampling point set and the second arc sampling point set; Based on the tangent point, the line segment is sampled according to the preset line sampling step size to obtain a line point set; The turning path is obtained by sequentially splicing together the first set of circular arc sampling points, the set of straight line points, and the second set of circular arc sampling points.

7. A K-shaped turning system for a work equipment, characterized in that, The K-shaped turn path is a composite path composed of a first circular arc, a straight line segment, and a second circular arc connected end to end in sequence. The K-shaped turn system includes: The first reference line determination module is used to determine the first reference line containing the first center of the first arc and the second center of the second arc based on the current work line, the target work line, the preset minimum safety distance, and the minimum turning radius of the work equipment. The center determination module is used to determine the first center and the second center based on the first reference line, the current work row, the target work row, and the minimum turning radius; The geometric calculation module is used to determine the tangent points of the first arc with the current work row and the guide line, respectively, based on the first center and the second center, and with the minimum turning radius as the arc radius; and to determine the tangent points of the second arc with the guide line and the target work row, respectively; wherein the guide line is a straight line segment with the end point of the current work row and the start point of the target work row as its endpoints; A turning path generation module is used to generate the turning path based on the tangent point, the first circle center, and the second circle center.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and for running on the processor, characterized in that, When the processor executes the computer program, it implements the K-shaped turning method of the working equipment as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the K-shaped turning method of the working equipment as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the K-shaped turning method of the working equipment as described in any one of claims 1-6.

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